CN107684456A - A kind of operating robot ultrasound knife control system - Google Patents
A kind of operating robot ultrasound knife control system Download PDFInfo
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- CN107684456A CN107684456A CN201710708346.0A CN201710708346A CN107684456A CN 107684456 A CN107684456 A CN 107684456A CN 201710708346 A CN201710708346 A CN 201710708346A CN 107684456 A CN107684456 A CN 107684456A
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- electric energy
- ultrasound knife
- adjustment device
- main frame
- energy adjustment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00732—Frequency
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Plasma & Fusion (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of operating robot ultrasound knife control system, for realizing in operating robot to the remote control of ultrasound knife.The control system includes main control device, ultrasonic main frame and ultrasound knife；The ultrasound knife includes transducer and ultrasound knife cutter head, and the main control device, ultrasonic main frame, the transducer and the ultrasound knife cutter head are sequentially connected；The main control device is used to receive control command, and the control command is sent into ultrasonic main frame；The control command is used for the vibration frequency for setting the ultrasound knife cutter head；The ultrasonic main frame is used for the electric energy that the transducer is adjusted the output to according to the control command；The transducer is used to be converted to the mechanical oscillation of frequency corresponding with the electric energy according to the electric energy that the ultrasonic main frame exports, and the mechanical oscillation are passed into the ultrasound knife cutter head；The ultrasound knife cutter head is used to realize the function of cutting pathological tissues or stop blooding by heat energy caused by the mechanical oscillation.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of operating robot ultrasound knife control system.
Background technology
Ultrasound knife is to utilize the extremely strong penetration power of ultrasonic wave so that water in histocyte, albumen hydrogen bond fracture, etc.
Reach the purpose of cutting tissue and hemostasis.Because ultrasound knife has, almost non smoke and eschar production small to surrounding tissue fire damage
Raw, particularly suitable for endoscope-assistant surgery application, so as to reduce complication to greatest extent, therefore ultrasound knife is widely used in surgery
Operation in operation.Such as currently used for operation ultrasonic cut hemostatic cutter (Ultrasounic-Harmonic Scalpel,
) and high strength focus ultrasonic knife (High Intensity Focused Ultrasound, HIFU) etc. UHS.
At present, the application of ultrasound knife is also in the doctor to be performed the operation the hand-held stage operated, the control to ultrasound knife
Process processed is also required to doctor and interacted manually with the interactive device on ultrasound knife, such as can only be arranged on ultrasound knife by pressing
On energy gear key the energy value of ultrasound knife is adjusted, control mode is more single so that doctor can only operation disease
It is operated before bed, moreover, during being performed the operation for a long time, doctor is easy to fatigue occur, and then easily leads
Situations such as causing doctor's hand tremor, so as to also be increased by the risk of operation.
The content of the invention
The embodiment of the present invention provides a kind of operating robot ultrasound knife control system, for realizing in operating robot to super
The remote control of sound knife.
First aspect, there is provided a kind of operating robot ultrasound knife control system, the control system include main control device, ultrasound
Main frame and ultrasound knife；The ultrasound knife includes transducer and ultrasound knife cutter head, the main control device, ultrasonic main frame, the transducing
Device and the ultrasound knife cutter head are sequentially connected；
The main control device is used to receive control command, and the control command is sent into ultrasonic main frame；The control
Order the vibration frequency for setting the ultrasound knife cutter head；
The ultrasonic main frame is used for the electric energy that the transducer is adjusted the output to according to the control command；
The transducer is used to be converted to frequency corresponding with the electric energy according to the electric energy that the ultrasonic main frame exports
Mechanical oscillation, and the mechanical oscillation are passed into the ultrasound knife cutter head；
The ultrasound knife cutter head be used for pass through caused by the mechanical oscillation heat energy realization pathological tissues are cut or
The function of person's hemostasis.
Optionally, the ultrasound knife also includes sub-controlling unit, and the sub-controlling unit includes at least one electric energy
Adjusting means, each electric energy adjustment device is connected with the ultrasonic main frame at least one electric energy adjustment device, and institute
Electric energy adjustment device different at least one electric energy adjustment device is stated to be used to control the ultrasonic main frame output size different
Electric energy；
When the first electric energy adjustment device at least one electric energy adjustment device is in enabled state, the ultrasound
Main frame exports electric energy corresponding with first electric energy adjustment device.
Optionally, any one electric energy adjustment device includes button and at least at least one electric energy adjustment device
One diode, the button are connected by least one diode with the ultrasonic main frame, at least one electric energy
The conducting direction for one or more diode that any two electric energy adjustment device includes is opposite in adjusting means；
It is when multiple electric energy adjustment devices are in enabled state simultaneously at least one electric energy adjustment device, then described
Close loop is formed by the opposite diode of conducting direction in multiple electric energy adjustment devices so that the ultrasonic main frame without
The control command of the method response electric energy adjustment device in enabled state.
Optionally, the sub-controlling unit also includes fool proof button；
When the fool proof button, which is in, forbids enabled state, at least one electric energy adjustment device is in forbidding shape
State；
When the fool proof button is in enabled state, at least one electric energy adjustment device is in opening.
Optionally, the sub-controlling unit is FPC circuit boards.
Optionally, the ultrasonic main frame is connected with the transducer by bipolar electrically interface connection socket.
In embodiments of the present invention, control command can be sent to by ultrasonic main frame by main control device, and then controlled super
The output energy size of sound main frame, to control the vibration frequency of ultrasound knife cutter head, and vibrate to focus on by ultrasound knife cutter head and produce
Heat energy realize the functions such as cutting to pathological tissues and hemostasis.So, it is direct to ultrasound knife for a long time doctor is not just had to yet
Operated, and then also avoid doctor operation and maloperation that caused hand tremor is brought for a long time, reduce operation risk.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, it will make below to required in the embodiment of the present invention
Accompanying drawing is briefly described, it should be apparent that, accompanying drawing described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of operating robot ultrasound knife control system provided in an embodiment of the present invention；
Fig. 2 adds the one of sub-controlling unit operating robot ultrasound knife control system to be provided in an embodiment of the present invention
Kind structural representation.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
The technical background of the embodiment of the present invention is described below.
At present, the application of ultrasound knife is also in the doctor to be performed the operation the hand-held stage operated, the control to ultrasound knife
Process processed is also required to doctor and interacted manually with the interactive device on ultrasound knife, such as can only be arranged on ultrasound knife by pressing
On energy gear key the energy value of ultrasound knife is adjusted, control mode is more single so that doctor can only operation disease
It is operated before bed, moreover, during being performed the operation for a long time, doctor is easy to fatigue occur, and then easily leads
Situations such as causing doctor's hand tremor, so as to also be increased by the risk of operation.
In consideration of it, the embodiment of the present invention provides a kind of operating robot ultrasound knife control system, can in the control system
So that control command is sent into ultrasonic main frame by main control device, and then the output energy size of ultrasonic main frame is controlled, with control
The vibration frequency of ultrasound knife cutter head, and by the vibration of ultrasound knife cutter head focus on caused by heat energy realize cutting to pathological tissues and
The functions such as hemostasis.So, also with regard to directly being operated to ultrasound knife for a long time without doctor, and then doctor's length is also avoided
The operation of time and maloperation that caused hand tremor is brought, reduce operation risk..
Technical scheme provided in an embodiment of the present invention is introduced below in conjunction with the accompanying drawings.
Fig. 1 is referred to, one embodiment of the invention provides a kind of operating robot ultrasound knife control system 10, the control system
Including main control device 101, ultrasonic main frame 102 and ultrasound knife 103；Ultrasound knife 103 includes transducer 1031 and ultrasound knife cutter head
1032, main control device 101, ultrasonic main frame 102, transducer 1031 and ultrasound knife cutter head 1032 are sequentially connected.
In the embodiment of the present invention, operating robot refers to carry out surgical operation behaviour by the control operating robot of doctor
Make, to substitute the medicine equipment for carrying out current doctor's hand-held apparatus and carrying out surgical operation.Wherein, operating robot mainly passes through doctor
The part such as console, switch board and mechanical arm forms, and surgeon console is used for the control command for receiving doctor, and switch board is used to put
Put operating theater instruments and control energy source of energy instrument etc., mechanical arm is used for the control command for receiving console or switch board
And perform the concrete operations in surgical operation.The control system of the embodiment of the present invention is used in operating robot for realizing
To the control of ultrasound knife.
In the embodiment of the present invention, control command can be received by main control device 101, therefore, available for reception order
Device can serve as the main control device 101 of the embodiment of the present invention.For example, main control device 101 can be in operating robot
Surgeon console, or control device corresponding with the energy instrument in switch board etc., certainly, main control device 101 also may be used
To be realized by other possible devices, the embodiment of the present invention is without limitation.Wherein, control command is to be used to set institute
The vibration frequency of ultrasound knife cutter head is stated, control command can set ultrasound knife cutter head to fixed vibration frequency, or also may be used
Be set ultrasound knife cutter head vibration frequency incrementss or decrement.
Specifically, main control device 101 can receive the order that operating personnel directly input to main control device 101, here
Operating personnel are the doctor of fingering row operation, can also receive the order sent by other equipment, such as main control device
101 be switch board in control device when, then main control device 101 can receive the control that doctor is sent by surgeon console
Order.
In the embodiment of the present invention, after main control device 101 receives control command, then control command can be sent to super
Sound main frame 102.Specifically, main control device 101 can be sent control command by way of wired or wireless data transmission
To ultrasonic main frame.After ultrasonic main frame 102 receives control command, what ultrasonic main frame 102 can include according to control command
The vibration frequency of ultrasound knife 103 is set to determine the electric energy of corresponding output, the electric energy adjusted here for example can be electric current
Or the size of voltage.
In the embodiment of the present invention, after electric energy size is adjusted ultrasonic main frame 102, then output to transducer 1031
Electric energy be electric energy after overregulating, then transducer 1031 can convert thereof into corresponding frequencies according to this electric energy size
Mechanical oscillation.Wherein, each energy value correspond to the mechanical oscillation of certain frequency.In the practical application of ultrasound knife 103
In, its vibration frequency is all at a relatively high, such as the working frequency of ultrasound knife 103 can be 55.5KHz.Specifically, ultrasound is main
Machine 102 can be connected by bipolar electrically interface connection socket with transducer 1031.
In the embodiment of the present invention, the frequency for the controlling electric energy ultrasonic vibration that ultrasound knife 103 can export according to ultrasonic main frame 102
Rate.Wherein, ultrasound knife 103 may be mounted on the mechanical arm of above-mentioned described operating robot.
Specifically, ultrasound knife 103 can receive the electric energy that ultrasonic main frame 102 exports by transducer 1031.Work as transducer
After 1031 convert electric energy to the mechanical oscillation of corresponding frequencies, then mechanical oscillation can be transferred to ultrasound knife cutter head by transducer 1031
1032 so that ultrasound knife cutter head 1032 also produces the mechanical oscillation of corresponding frequencies, and works as ultrasound knife cutter head 1032 and pathological tissues
During contact, then can be cut open by high-frequency mechanical oscillation pathological tissues, and by high-frequency vibrate caused by heat energy
To cause tissue rapid blood coagulation, so as to reach the purpose of cutting tissue and hemostasis.
In the embodiment of the present invention, in order to facilitate the operation of other operating personnel, such as during operation is carried out, Yi Shengke
To be controlled by main control device 101 outside the vibration frequency of ultrasound knife 103, it is possible to which also there is the nurse couple before sick bed
The operation of ultrasound knife 103, therefore Fig. 2 is referred to, the ultrasound knife of the embodiment of the present invention can also include sub-controlling unit 1033.
Specifically, sub-controlling unit 1033 can include at least one electric energy adjustment device, each electric energy adjustment device can
It is connected with the ultrasonic main frame, and electric energy adjustment device different at least one electric energy adjustment device can control ultrasonic main frame
The 102 different size of electric energy of output, that is to say, that each electric energy adjustment device correspond to a gear of ultrasound knife, different
Gear corresponds to different vibration frequencies, when the first electric energy adjustment device at least one electric energy adjustment device is in enabled state
When, and when other electric energy adjustment devices are not in enabled state, then ultrasonic main frame can export and the first electric energy adjustment device
Corresponding electric energy.For example, sub-controlling unit 1033 can include two electric energy adjustment devices, that is, correspond to the height of ultrasound knife 103
Gear and low-grade location, high tap position and low-grade location correspond to different vibration frequencies respectively, and the vibration frequency of high tap position is more than low grade
The vibration frequency of position, when the electric energy adjustment device of wherein high tap position is in enabled state, then corresponding ultrasonic main frame 102 exports
The correspondingly sized electric energy with the electric energy adjustment device of the high tap position；When the electric energy adjustment device of wherein low-grade location is in enabled state
When, then the corresponding ultrasonic output of main frame 102 electric energy correspondingly sized with the electric energy adjustment device of the low-grade location, it is specific set with
The correspondingly sized electric energy of electric energy adjustment device of high tap position or the electric energy correspondingly sized with the electric energy adjustment device of low-grade location can
To be configured in specific operation process, can also be configured before device dispatches from the factory.
Specifically, electric energy adjustment device can be realized by button, when the button is pressed, then the electricity where the button
Air circuit is switched on, i.e., the electric energy adjustment device is in enabled state, ultrasonic main frame 102 can be controlled to export corresponding electricity
Energy.
Wherein, because the inner space of ultrasound knife is limited, and internal mechanical structure is complex, therefore sub-controlling unit
It can be realized by flexible printed circuit board (flexible printed circuit, FPC), FPC circuit board thinner thicknesses,
And pliability is high, be advantageous to carry out the assembling in three-dimensional space in the confined space.
In order to prevent from multiple buttons in electric energy adjustment device while be pressed to caused by ultrasonic main frame to damage, therefore often
Individual electric energy adjustment device can also include at least one diode, and button passes through at least one two in addition to including button
Pole pipe is connected with ultrasonic main frame 102.Wherein, any two electric energy adjustment device includes in all electric energy adjustment devices one
The conducting direction of individual or multiple diodes is opposite.For example, when the quantity of electric energy adjustment device is two, then each electric energy is adjusted
A diode can be included in regulating device, and the conducting direction of the two diodes is on the contrary, work as the two electric energy adjustment devices
In button simultaneously when being pressed, then close loop can be formed by the opposite diode of conducting direction, also just made
The short circuit of button loop is obtained, push button signalling can not reach ultrasonic main frame 102, and will not export any one in then ultrasonic main frame 102 presses
Electric energy corresponding to key, so as to be played a protective role to ultrasonic main frame 102.Certainly, when the quantity of electric energy adjustment device is a lot, then
Can by adjusting the quantity and conducting direction of diode so that it is opposite that any two electric energy adjustment device has conducting direction
Diode, can make up close loop.
In the embodiment of the present invention, in order to prevent the maloperation of operating personnel, fool proof can also be included in sub-controlling unit
Button, when fool proof button, which is in, forbids enabled state, above-mentioned electric energy adjustment device is in illegal state；When fool proof button
During in enabled state, above-mentioned electric energy adjustment device is in opening.Specifically, fool proof button forbids enabled state
Fool proof button can be arranged to press or do not press, pressed when forbidding enabled state to be arranged to fool proof button, then fool proof is pressed
The enabled state of key then could be arranged to fool proof button and not press；Do not pressed when forbidding enabled state to be arranged to fool proof button, then
The enabled state of fool proof button then could be arranged to fool proof button and press.When operating personnel are needed to the button on ultrasound knife 103
, it is necessary to first cause fool proof button to be in enabled state when being operated, even if otherwise to other button operations, and can not be to behaviour
Make what the operation of personnel responded, so, also avoid the risk that the maloperation of operating personnel is brought.
In summary, in embodiments of the present invention, control command can be sent to by ultrasonic main frame by main control device, entered
And the output energy size of ultrasonic main frame is controlled, to control the vibration frequency of ultrasound knife cutter head, and vibrated by ultrasound knife cutter head
Heat energy caused by focusing realizes the functions such as cutting and the hemostasis to pathological tissues.So, doctor is not just had to yet for a long time to super
Sound knife is directly operated, and then also avoids doctor operation and maloperation that caused hand tremor is brought for a long time, is reduced
Operation risk.
In embodiments of the present invention, it should be understood that disclosed apparatus and method, can be real by another way
It is existing.For example, apparatus embodiments described above are only schematical, for example, the division of the unit or unit, is only
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, equipment or unit
Connect, can be electrical or other forms.
Each functional unit in embodiments of the present invention can be integrated in a processing unit, or unit also may be used
To be independent physical module.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the embodiment of the present invention
All or part can be embodied in the form of software product, the computer software product is stored in a storage medium
In, including some instructions are causing a computer equipment, such as can be that personal computer, server, or network are set
It is standby etc., or all or part of step of each embodiment methods described of processor (processor) the execution present invention.It is and foregoing
Storage medium includes：General serial bus USB (Universal Serial Bus flash drive), mobile hard disk, only
Read memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disc
Or CD etc. is various can be with the medium of store program codes.
Described above, above example is implemented above only the technical scheme of the application to be described in detail
The explanation of example is only intended to help the method for understanding the embodiment of the present invention, should not be construed as the limitation to the embodiment of the present invention.This
The change or replacement that those skilled in the art can readily occur in, should all cover the embodiment of the present invention protection domain it
It is interior.
Claims (6)
1. a kind of operating robot ultrasound knife control system, it is characterised in that including main control device, ultrasonic main frame and ultrasound knife；
The ultrasound knife includes transducer and ultrasound knife cutter head, the main control device, ultrasonic main frame, the transducer and the ultrasound knife
Cutter head is sequentially connected；
The main control device is used to receive control command, and the control command is sent into ultrasonic main frame；The control command
For setting the vibration frequency of the ultrasound knife cutter head；
The ultrasonic main frame is used for the electric energy that the transducer is adjusted the output to according to the control command；
The transducer is used for the machinery that frequency corresponding with the electric energy is converted to according to the electric energy that the ultrasonic main frame exports
Vibration, and the mechanical oscillation are passed into the ultrasound knife cutter head；
The ultrasound knife cutter head, which is used to realize by heat energy caused by the mechanical oscillation, to be cut or is stopped to pathological tissues
The function of blood.
2. control system as claimed in claim 1, it is characterised in that the ultrasound knife also includes sub-controlling unit, described
Sub-controlling unit includes at least one electric energy adjustment device, and each electric energy is adjusted at least one electric energy adjustment device
Device is connected with the ultrasonic main frame, and electric energy adjustment device different at least one electric energy adjustment device is used to control
The different electric energy of the ultrasonic main frame output size；
When the first electric energy adjustment device at least one electric energy adjustment device is in enabled state, the ultrasonic main frame
Output electric energy corresponding with first electric energy adjustment device.
3. control system as claimed in claim 2, it is characterised in that any one at least one electric energy adjustment device
Electric energy adjustment device includes button and at least one diode, and the button is surpassed by least one diode with described
Sound main frame connects, at least one electric energy adjustment device any two electric energy adjustment device include one or more two
The conducting direction of pole pipe is opposite；
It is when multiple electric energy adjustment devices are in enabled state simultaneously at least one electric energy adjustment device, then the multiple
Close loop is formed by the opposite diode of conducting direction in electric energy adjustment device so that the ultrasonic main frame can not ring
Answer the control command of the electric energy adjustment device in enabled state.
4. control system as claimed in claim 2, it is characterised in that the sub-controlling unit also includes fool proof button；
When the fool proof button, which is in, forbids enabled state, at least one electric energy adjustment device is in illegal state；
When the fool proof button is in enabled state, at least one electric energy adjustment device is in opening.
5. control system as claimed in claim 2, it is characterised in that the sub-controlling unit is FPC circuit boards.
6. control system as claimed in claim 1, it is characterised in that the ultrasonic main frame passes through bipolar electric with the transducer
Gas interface connection socket is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708346.0A CN107684456A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot ultrasound knife control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708346.0A CN107684456A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot ultrasound knife control system |
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| Publication Number | Publication Date |
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| CN107684456A true CN107684456A (en) | 2018-02-13 |
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ID=61153445
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710708346.0A Pending CN107684456A (en) | 2017-08-17 | 2017-08-17 | A kind of operating robot ultrasound knife control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019215745A1 (en) * | 2018-05-09 | 2019-11-14 | Mazor Robotics Ltd. | Robotically controlled ultrasonic scalpel |
| CN111887941A (en) * | 2020-08-07 | 2020-11-06 | 重庆迈科唯医疗科技有限公司 | Novel ultrasonic electrosurgical system and ultrasonic knife control method |
| CN112690873A (en) * | 2020-12-25 | 2021-04-23 | 中南大学湘雅医院 | Bendable ultrasonic knife |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739458A (en) * | 2013-12-26 | 2015-07-01 | 深圳迈瑞生物医疗电子股份有限公司 | Ultracision harmonic scalpel and ultracision coagulation system |
| CN106137399A (en) * | 2016-08-31 | 2016-11-23 | 北京术锐技术有限公司 | A kind of operating robot integrated control system based on embedded computer |
-
2017
- 2017-08-17 CN CN201710708346.0A patent/CN107684456A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104739458A (en) * | 2013-12-26 | 2015-07-01 | 深圳迈瑞生物医疗电子股份有限公司 | Ultracision harmonic scalpel and ultracision coagulation system |
| CN106137399A (en) * | 2016-08-31 | 2016-11-23 | 北京术锐技术有限公司 | A kind of operating robot integrated control system based on embedded computer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019215745A1 (en) * | 2018-05-09 | 2019-11-14 | Mazor Robotics Ltd. | Robotically controlled ultrasonic scalpel |
| CN111887941A (en) * | 2020-08-07 | 2020-11-06 | 重庆迈科唯医疗科技有限公司 | Novel ultrasonic electrosurgical system and ultrasonic knife control method |
| CN112690873A (en) * | 2020-12-25 | 2021-04-23 | 中南大学湘雅医院 | Bendable ultrasonic knife |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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Application publication date: 20180213 |
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